Upload run dwbc17-yawsc.simple.flow1000.cosine.lr1.0e-04.b256.gpus8.2611030822 (ckpt_20000)

runs/finetune/dwbc17-yawsc.simple.flow1000.cosine.lr1.0e-04.b256.gpus8.2611030822/argv.txt

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+scripts/train.py
+finetune_simple_psi0_config
+--seed=292285
+--exp=dwbc17-yawsc
+--train.name=finetune
+--train.data_parallel=ddp
+--train.mixed_precision=bf16
+--train.train_batch_size=32
+--train.max_checkpoints_to_keep=5
+--train.gradient_accumulation_steps=1
+--train.learning_rate=1e-4
+--train.max_training_steps=80000
+--train.warmup_ratio=None
+--train.warmup_steps=2000
+--train.checkpointing_steps=10000
+--train.validation_steps=2000
+--train.skip-first-eval
+--train.val_num_batches=-1
+--train.val_batch_size=32
+--train.num_workers=12
+--train.max_grad_norm=1.0
+--train.lr_scheduler_type=cosine
+--train.lr_scheduler_kwargs.weight_decay=0.01
+--train.lr_scheduler_kwargs.eps=1e-6
+--train.lr_scheduler_kwargs.betas 0.95 0.999
+--log.report_to=wandb
+--log.log_freq=1000
+--data.root_dir=/hfm/data/simple
+--data.train-repo-ids=SIMPLE-decoupled-wbc-train
+--data.val-repo-ids=SIMPLE-decoupled-wbc-val
+--data.transform.repack.pad-action-dim=37
+--data.transform.repack.pad-state-dim=36
+--data.transform.repack.state-temporal-jitter=10
+--data.transform.repack.state-temporal-jitter-prob=0.5
+--data.transform.field.stat-path=meta/stats_psi0.json
+--data.transform.field.stat-action-key=action
+--data.transform.field.stat-state-key=states
+--data.transform.field.action_norm_type=bounds
+--data.transform.field.no-use-norm-mask
+--data.transform.field.normalize-state
+--data.transform.field.state-noise-std=0.05
+--data.transform.field.pad-action-dim=37
+--data.transform.field.pad-state-dim=36
+--data.transform.model.img-aug
+--data.transform.model.view-aug
+--data.transform.model.view-aug-min-scale=0.85
+--data.transform.model.view-aug-prob=1.0
+--data.transform.model.resize.size 180 320
+--data.transform.model.center_crop.size 180 320
+--data.transform.repack.yaw-sincos
+--data.transform.field.yaw-sincos
+--model.model_name_or_path=cache/checkpoints/psi0/pre.fast.1by1.2601091803.ckpt.ego200k.he30k
+--model.pretrained-action-header-path=cache/checkpoints/psi0/postpre.1by1.pad36.2601131206.ckpt.he30k
+--model.noise-scheduler=flow
+--model.train-diffusion-steps=1000
+--model.n_conditions=0
+--model.action-chunk-size=30
+--model.action-dim=37
+--model.action-exec-horizon=30
+--model.observation-horizon=1
+--model.odim=36
+--model.dropout=0.0
+--model.state-feature-dropout=0.0
+--model.view_feature_dim=2048
+--model.tune-vlm
+--model.lang-backbone-lr=1e-6
+--model.vision-tower-lr=1e-5
+--model.mm-projector-lr=1e-4
+--model.gradient-checkpointing
+--model.no-use_film
+--model.qk-norm=rms_norm
+--model.combined-temb
+--model.num-blocks=12
+--model.vlm-layer-indices 3 5 8 10 12 14 17 19 21 23 26 28
+--model.state-drop-prob=0.1
+--model.state-as-action-token
+--model.state-null-token
+--model.pooled-text-encoder=clip
+--model.pooled-text-encoder-path=openai/clip-vit-large-patch14
+--model.pooled-projection-dim=768
+--model.pooled-cache-path=clip_pooled_cache_simple.pt
+--model.rtc
+--model.max-delay=8

runs/finetune/dwbc17-yawsc.simple.flow1000.cosine.lr1.0e-04.b256.gpus8.2611030822/checkpoints/ckpt_20000/model.safetensors

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runs/finetune/dwbc17-yawsc.simple.flow1000.cosine.lr1.0e-04.b256.gpus8.2611030822/checkpoints/ckpt_20000/scheduler.bin

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runs/finetune/dwbc17-yawsc.simple.flow1000.cosine.lr1.0e-04.b256.gpus8.2611030822/clip_pooled_cache_simple.pt

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runs/finetune/dwbc17-yawsc.simple.flow1000.cosine.lr1.0e-04.b256.gpus8.2611030822/run_config.json

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+{
+    "exp": "dwbc17-yawsc",
+    "seed": 292285,
+    "auto_tag_run": false,
+    "eval": false,
+    "debug": false,
+    "timestamp": "2611030822",
+    "log": {
+        "logging_dir": "logs",
+        "report_to": "wandb",
+        "log_freq": 1000
+    },
+    "wandb": {
+        "project": "psi",
+        "entity": "ggsonglin",
+        "group": "finetune",
+        "id": "pwko4qcc",
+        "name": "dwbc17-yawsc.simple.flow1000.cosine.lr1.0e-04.b256.gpus8.2611030822",
+        "resume": "allow"
+    },
+    "train": {
+        "num_workers": 12,
+        "overfit_single_batch": false,
+        "name": "finetune",
+        "run_tag": null,
+        "resume_from_checkpoint": null,
+        "skip_resumed_steps": false,
+        "hf_token": "PosixPath('.hf_token')",
+        "lora": false,
+        "output_dir": ".runs",
+        "gradient_accumulation_steps": 1,
+        "mixed_precision": "bf16",
+        "max_grad_norm": 1.0,
+        "optimizer_foreach": null,
+        "train_batch_size": 32,
+        "val_batch_size": 32,
+        "val_num_batches": -1,
+        "checkpointing_steps": 10000,
+        "max_checkpoints_to_keep": 5,
+        "preserve_checkpoint_every": 10000,
+        "validation_steps": 2000,
+        "skip_first_eval": true,
+        "learning_rate": 0.0001,
+        "lr_scheduler_type": "cosine",
+        "lr_scheduler_kwargs": {
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+            "weight_decay": 0.01,
+            "eps": 1e-06
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+        "scheduler_specific_kwargs": {},
+        "data_parallel": "ddp",
+        "sharding_strategy": "full-shard",
+        "deepspeed_config": "/hfm/songlin/psi0/scripts/deepspeed/zero3.json",
+        "enable_gradient_checkpointing": true,
+        "enable_mixed_precision_training": true,
+        "reduce_in_full_precision": true,
+        "max_training_steps": 80000,
+        "num_train_epochs": null,
+        "warmup_steps": 2000,
+        "warmup_ratio": null
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+    "data": {
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+                "state_temporal_jitter_prob": 0.5,
+                "pad_action_dim": 37,
+                "pad_state_dim": 36,
+                "yaw_sincos": true,
+                "yaw_dim": 35
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+            "model": {
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+                "center_crop": {
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+                    "contrast": [
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+                    "saturation": [
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+                "img_aug": true,
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+                "img_sizes": {
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+}